54 lines
1.6 KiB
Python
54 lines
1.6 KiB
Python
from osc4py3.as_eventloop import *
|
|
from osc4py3 import oscbuildparse
|
|
import time
|
|
import roboticstoolbox as rtb
|
|
|
|
def main():
|
|
# Start the OSC system
|
|
osc_startup()
|
|
|
|
# Make client channels to send packets
|
|
|
|
#osc_udp_client("192.168.1.24", 8000, "osc_client")
|
|
osc_udp_client("127.0.0.1", 8000, "osc_client")
|
|
# Example joint positions to send
|
|
joint_positions1 = [0.4,0.4, 1.0, 0.0, 0.0, 0.0, 3]
|
|
joint_positions2 = [0.4,-0.4, 0.2, 0.0,0.0, 0.0]
|
|
joint_positions3 = [0.4,-0.4, 0.6, 0.0, 0.0, 0.0]#, 6.0]
|
|
joint_positions4 = [0.4,0.4, 0.6, 0.0, 0.0, 0.0]#, 6.0]
|
|
joint_positions5 = [0.4,0.4, 0.2, 0.0, 0.0, 0.0]#, 6.0]
|
|
|
|
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions1)
|
|
osc_send(msg, "osc_client")
|
|
osc_process()
|
|
print(time.time())
|
|
print(joint_positions1)
|
|
print("Sending joint positions")
|
|
'''
|
|
time.sleep(2)
|
|
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions2)
|
|
osc_send(msg, "osc_client")
|
|
osc_process()
|
|
print("Sent joint positions2")
|
|
time.sleep(3)
|
|
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions3)
|
|
osc_send(msg, "osc_client")
|
|
osc_process()
|
|
print("Sent joint positions3")
|
|
time.sleep(3)
|
|
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions4)
|
|
osc_send(msg, "osc_client")
|
|
osc_process()
|
|
print("Sent joint positions4")
|
|
time.sleep(3)
|
|
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions5)
|
|
osc_send(msg, "osc_client")
|
|
osc_process()
|
|
print("Sent joint positions5")
|
|
time.sleep(3)
|
|
'''
|
|
osc_terminate()
|
|
|
|
if __name__ == "__main__":
|
|
main()
|